#ifndef _DATAPOOL_H_
#define _DATAPOOL_H_

//单位为弧度
extern float cmd_data[4][3];
extern float fb_data[4][3];
extern float cmd_imu[3];
extern float fb_imu[3];
extern struct GaitParams state_gait_params[];

enum LegsName : int
{
    RF,
    LF,
    LH,
    RH
};

enum JointName : int
{
    FrontPart,
    HindPart,
    Abduction
};

enum States : int
{
    STOP,
    TROT,
    BOUND,
    WALK,
    PRONK,
    JUMP,
    DANCE,
    HOP,
    TEST,
    ROTATE,
    FLIP,
    TURN_TROT,
    RESET
};

struct GaitParams
{
    float stance_height;
    float down_amp;
    float up_amp;
    float flight_percent;
    float step_length;
    float freq;
    float step_diff;
};

enum :int { 
        yaw = 0,
        pitch,
        roll
};

#endif
